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TVL1 Shape Approximation from Scattered 3D Data

Funk, Eugen and Börner, Anko and Dooley, Laurence (2015) TVL1 Shape Approximation from Scattered 3D Data. In: VISAPP International Workshop on Robotic Perception. Springer. International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, Berlin.

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Abstract

With the emergence in 3D sensors such as laser scanners and 3D reconstruction from cameras, large 3D point clouds can now be sampled from physical objects within a scene. The raw 3D samples delivered by these sensors however, contain only a limite d degree of information about the environment the objects exist in, which means that further geometrical high-level modelling is essential. In addition, issues like sparse data measurements, noise, missing samples due to occlusion, and the inherently huge datasets involved in such representations makes this task extremely challenging. This paper addresses these issues by presenting a new 3D shape modelling framework for samples acquired from 3D sensor. Motivated by the success of nonlinear kernel-based approximation techniques in the statistics domain, existing methods using radial basis functions are applied to 3D object shape approximation. The task is framed as an optimization problem and is extended using non-smooth L1 total variation regularization. Appropriate convex energy functionals are constructed and solved by applying the Alternating Direction Method of Multipliers approach, which is then extended using Gauss-Seidel iterations. This significantly lowers the computational complexity involved in generating 3D shape from 3D samples, while both numerical and qualitative analysis confirms the superior shape modelling performance of this new framework compared with existing 3D shape reconstruction techniques.

Item URL in elib:https://elib.dlr.de/100369/
Document Type:Conference or Workshop Item (Speech)
Title:TVL1 Shape Approximation from Scattered 3D Data
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Funk, EugenOS-ISUNSPECIFIED
Börner, AnkoOS-ISUNSPECIFIED
Dooley, LaurenceOpen UniversityUNSPECIFIED
Date:11 March 2015
Journal or Publication Title:VISAPP International Workshop on Robotic Perception
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Publisher:Springer
Series Name:LNCS - Lecture notes on computer science
Status:Published
Keywords:Shape Reconstruction, Radial Basis Function Interpolation, L1 Total Variation Minimization, Iterative Large Scale Optimization
Event Title:International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
Event Location:Berlin
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old), R - Robotische Exploration (old), R - Vorhaben Intelligente Mobilität
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Information Processing for Optical Systems
Deposited By: Funk, Eugen
Deposited On:07 Dec 2015 07:09
Last Modified:31 Jul 2019 19:57

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